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Preheat oven to 350 degrees. Prepare 9"x13" baking dish by spraying it with non-stick cooking spray.
First prepare the crumb topping by melting the butter in a small saucepan over medium-low heat. Add brown sugar, vanilla extract and salt. Stir until smooth. Remove from heat. Stir in cinnamon and flour. Let cool completely.
In a large bowl combine cake mix, egg, yogurt, melted butter, vanilla and cinnamon. Beat until well combined. Pour batter into prepared baking dish.
Crumble the cooled topping and sprinkle over cake.
Bake for 30 minutes or until toothpick inserted in the center of the cake comes out clean. Remove from oven and cool completely.
In a bowl whisk together powdered sugar, milk and cinnamon until smooth. Drizzle over cooled cake.